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<title>Doxygen: pcl::octree::OctreePointCloudAdjacency&lt; PointT, LeafContainerT, BranchContainerT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::octree::OctreePointCloudAdjacency&lt; PointT, LeafContainerT, BranchContainerT &gt; 模板类 参考</div>  </div>
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<p><b>Octree</b> pointcloud voxel class which maintains adjacency information for its voxels.  
 <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="octree__pointcloud__adjacency_8h_source.html">octree_pointcloud_adjacency.h</a>&gt;</code></p>
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类 pcl::octree::OctreePointCloudAdjacency&lt; PointT, LeafContainerT, BranchContainerT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.png" usemap="#pcl::octree::OctreePointCloudAdjacency_3C_20PointT_2C_20LeafContainerT_2C_20BranchContainerT_20_3E_map" alt=""/>
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<area href="classpcl_1_1octree_1_1_octree_point_cloud.html" alt="pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;" shape="rect" coords="0,56,657,80"/>
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<table class="memberdecls">
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeBaseT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeAdjacencyT</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBaseT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreePointCloudT</b></td></tr>
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typedef OctreePointCloudT::LeafNode&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef OctreePointCloudT::BranchNode&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreeAdjacencyT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef boost::adjacency_list&lt; boost::setS, boost::setS, boost::undirectedS, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VoxelAdjacencyList</b></td></tr>
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typedef VoxelAdjacencyList::vertex_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>VoxelID</b></td></tr>
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typedef VoxelAdjacencyList::edge_descriptor&#160;</td><td class="memItemRight" valign="bottom"><b>EdgeID</b></td></tr>
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typedef std::vector&lt; LeafContainerT * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafVectorT</b></td></tr>
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typedef LeafVectorT::iterator&#160;</td><td class="memItemRight" valign="bottom"><b>iterator</b></td></tr>
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typedef LeafVectorT::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>const_iterator</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1octree_1_1_octree_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1octree_1_1_octree_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Base</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeT::LeafNode</a>&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeT::BranchNode</a>&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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typedef boost::shared_ptr&lt; std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>IndicesConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SingleBuffer</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a>, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>AlignedPointTVector</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>AlignedPointXYZVector</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>&lt; BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a>&lt; LeafContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef BranchContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>BranchContainer</b></td></tr>
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typedef LeafContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>LeafContainer</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_end</b> ()</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> ()</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t idx)</td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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<tr class="memitem:ab60753b34c6a12760da82cf9ea74cb75"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ab60753b34c6a12760da82cf9ea74cb75">OctreePointCloudAdjacency</a> (const double resolution_arg)</td></tr>
<tr class="memdesc:ab60753b34c6a12760da82cf9ea74cb75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ab60753b34c6a12760da82cf9ea74cb75">更多...</a><br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aa27549fc7333872baf277b9cbb0e9408">~OctreePointCloudAdjacency</a> ()</td></tr>
<tr class="memdesc:aa27549fc7333872baf277b9cbb0e9408"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty class destructor. <br /></td></tr>
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<tr class="memitem:a60fb93a56effff0f432477496ec53b7d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d">addPointsFromInputCloud</a> ()</td></tr>
<tr class="memdesc:a60fb93a56effff0f432477496ec53b7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds points from cloud to the octree.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d">更多...</a><br /></td></tr>
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<tr class="memitem:a4f7b7d0c23cb413530b85042d021f9bf"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4f7b7d0c23cb413530b85042d021f9bf">getLeafContainerAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a4f7b7d0c23cb413530b85042d021f9bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the leaf container for a given point.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4f7b7d0c23cb413530b85042d021f9bf">更多...</a><br /></td></tr>
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<tr class="memitem:a4c04692ebdce08de83a2568cac551276"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4c04692ebdce08de83a2568cac551276">computeVoxelAdjacencyGraph</a> (VoxelAdjacencyList &amp;voxel_adjacency_graph)</td></tr>
<tr class="memdesc:a4c04692ebdce08de83a2568cac551276"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes an adjacency graph of voxel relations.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4c04692ebdce08de83a2568cac551276">更多...</a><br /></td></tr>
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<tr class="memitem:a0a0ee370d0a5fe320741e4f60a57d17a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a0a0ee370d0a5fe320741e4f60a57d17a">setTransformFunction</a> (boost::function&lt; void(<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)&gt; transform_func)</td></tr>
<tr class="memdesc:a0a0ee370d0a5fe320741e4f60a57d17a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a point transform (and inverse) used to transform the space of the input cloud.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a0a0ee370d0a5fe320741e4f60a57d17a">更多...</a><br /></td></tr>
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<tr class="memitem:a209f1bdf001dffcec55a09f556cd13a2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a209f1bdf001dffcec55a09f556cd13a2">testForOcclusion</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;camera_pos=<a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>(0, 0, 0))</td></tr>
<tr class="memdesc:a209f1bdf001dffcec55a09f556cd13a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tests whether input point is occluded from specified camera point by other voxels.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a209f1bdf001dffcec55a09f556cd13a2">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1octree_1_1_octree_point_cloud')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;</a></td></tr>
<tr class="memitem:a4ebc0e3994827277f01fe12cb4fe8c2a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">OctreePointCloud</a> (const double resolution_arg)</td></tr>
<tr class="memdesc:a4ebc0e3994827277f01fe12cb4fe8c2a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree pointcloud constructor.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">更多...</a><br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab8478220f036bebf326d52d0aa9812b7">~OctreePointCloud</a> ()</td></tr>
<tr class="memdesc:ab8478220f036bebf326d52d0aa9812b7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
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<tr class="memitem:a87cad20428de876fcf789e674a39f503 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">setInputCloud</a> (const PointCloudConstPtr &amp;cloud_arg, const IndicesConstPtr &amp;indices_arg=IndicesConstPtr())</td></tr>
<tr class="memdesc:a87cad20428de876fcf789e674a39f503 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input data set.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503">更多...</a><br /></td></tr>
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<tr class="memitem:ad2d8677cb9862db3dbb3469dea11448a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">getIndices</a> () const</td></tr>
<tr class="memdesc:ad2d8677cb9862db3dbb3469dea11448a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad2d8677cb9862db3dbb3469dea11448a">更多...</a><br /></td></tr>
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<tr class="memitem:a3755f9b861d4087c1b1bc1ab1bca1115 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a3755f9b861d4087c1b1bc1ab1bca1115 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a3755f9b861d4087c1b1bc1ab1bca1115">更多...</a><br /></td></tr>
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<tr class="memitem:a6ed1b43b1e139f916c4908ee4407a9a0 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">setEpsilon</a> (double eps)</td></tr>
<tr class="memdesc:a6ed1b43b1e139f916c4908ee4407a9a0 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the search epsilon precision (error bound) for nearest neighbors searches.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6ed1b43b1e139f916c4908ee4407a9a0">更多...</a><br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a79537fd6e4e322a6cb3828aef64ab692">getEpsilon</a> () const</td></tr>
<tr class="memdesc:a79537fd6e4e322a6cb3828aef64ab692 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the search epsilon precision (error bound) for nearest neighbors searches. <br /></td></tr>
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<tr class="memitem:a95a51d4834c204e02fd12b48d0c37a6f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">setResolution</a> (double resolution_arg)</td></tr>
<tr class="memdesc:a95a51d4834c204e02fd12b48d0c37a6f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/change the octree voxel resolution  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a95a51d4834c204e02fd12b48d0c37a6f">更多...</a><br /></td></tr>
<tr class="separator:a95a51d4834c204e02fd12b48d0c37a6f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaeb6c759054a883ef7e709591d0be3e3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">getResolution</a> () const</td></tr>
<tr class="memdesc:aaeb6c759054a883ef7e709591d0be3e3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get octree voxel resolution  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aaeb6c759054a883ef7e709591d0be3e3">更多...</a><br /></td></tr>
<tr class="separator:aaeb6c759054a883ef7e709591d0be3e3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae99e636dcd717b62e78a4a12ba9f183f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:ae99e636dcd717b62e78a4a12ba9f183f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ae99e636dcd717b62e78a4a12ba9f183f">更多...</a><br /></td></tr>
<tr class="separator:ae99e636dcd717b62e78a4a12ba9f183f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac477d9477e781d980709b1e8886d2c7c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="ac477d9477e781d980709b1e8886d2c7c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">addPointsFromInputCloud</a> ()</td></tr>
<tr class="memdesc:ac477d9477e781d980709b1e8886d2c7c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add points from input point cloud to octree. <br /></td></tr>
<tr class="separator:ac477d9477e781d980709b1e8886d2c7c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac740d5e678cca7d165771f0c9e480050 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (const int point_idx_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:ac740d5e678cca7d165771f0c9e480050 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at given index from input point cloud to octree. Index will be also added to indices vector.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac740d5e678cca7d165771f0c9e480050">更多...</a><br /></td></tr>
<tr class="separator:ac740d5e678cca7d165771f0c9e480050 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53d42efe80b3083dc5b703ea9dd7c9af inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg)</td></tr>
<tr class="memdesc:a53d42efe80b3083dc5b703ea9dd7c9af inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a53d42efe80b3083dc5b703ea9dd7c9af">更多...</a><br /></td></tr>
<tr class="separator:a53d42efe80b3083dc5b703ea9dd7c9af inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa204be6055c6e686bbe2bb11ece439db inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa204be6055c6e686bbe2bb11ece439db">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:aa204be6055c6e686bbe2bb11ece439db inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa204be6055c6e686bbe2bb11ece439db">更多...</a><br /></td></tr>
<tr class="separator:aa204be6055c6e686bbe2bb11ece439db inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a2aff164921146fd82c192d73e2f155 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">isVoxelOccupiedAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a9a2aff164921146fd82c192d73e2f155 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a9a2aff164921146fd82c192d73e2f155">更多...</a><br /></td></tr>
<tr class="separator:a9a2aff164921146fd82c192d73e2f155 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93dbefe4a23e8083f6e3bba2eab22e0c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">isVoxelOccupiedAtPoint</a> (const double point_x_arg, const double point_y_arg, const double point_z_arg) const</td></tr>
<tr class="memdesc:a93dbefe4a23e8083f6e3bba2eab22e0c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point coordinates exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a93dbefe4a23e8083f6e3bba2eab22e0c">更多...</a><br /></td></tr>
<tr class="separator:a93dbefe4a23e8083f6e3bba2eab22e0c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75d0265301eeb2ba907cd1f2e002eca7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">isVoxelOccupiedAtPoint</a> (const int &amp;point_idx_arg) const</td></tr>
<tr class="memdesc:a75d0265301eeb2ba907cd1f2e002eca7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if voxel at given point from input cloud exist.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a75d0265301eeb2ba907cd1f2e002eca7">更多...</a><br /></td></tr>
<tr class="separator:a75d0265301eeb2ba907cd1f2e002eca7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2661ae14c070f3abca50c759d7c0c465 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a2661ae14c070f3abca50c759d7c0c465"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2661ae14c070f3abca50c759d7c0c465">deleteTree</a> ()</td></tr>
<tr class="memdesc:a2661ae14c070f3abca50c759d7c0c465 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
<tr class="separator:a2661ae14c070f3abca50c759d7c0c465 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb3e4301c89ea5011a1a1167800a57b3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">getOccupiedVoxelCenters</a> (AlignedPointTVector &amp;voxel_center_list_arg) const</td></tr>
<tr class="memdesc:abb3e4301c89ea5011a1a1167800a57b3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a PointT vector of centers of all occupied voxels.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#abb3e4301c89ea5011a1a1167800a57b3">更多...</a><br /></td></tr>
<tr class="separator:abb3e4301c89ea5011a1a1167800a57b3 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2fe606c6ea7b413949b96e4ba4b22d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">getApproxIntersectedVoxelCentersBySegment</a> (const Eigen::Vector3f &amp;origin, const Eigen::Vector3f &amp;end, AlignedPointTVector &amp;voxel_center_list, float precision=0.2)</td></tr>
<tr class="memdesc:ac2fe606c6ea7b413949b96e4ba4b22d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac2fe606c6ea7b413949b96e4ba4b22d7">更多...</a><br /></td></tr>
<tr class="separator:ac2fe606c6ea7b413949b96e4ba4b22d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2edc37d578faf79346d3fa74b18de194 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">deleteVoxelAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg)</td></tr>
<tr class="memdesc:a2edc37d578faf79346d3fa74b18de194 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete leaf node / voxel at given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a2edc37d578faf79346d3fa74b18de194">更多...</a><br /></td></tr>
<tr class="separator:a2edc37d578faf79346d3fa74b18de194 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03616f25c07af456a3f96e87371f152e inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a03616f25c07af456a3f96e87371f152e">deleteVoxelAtPoint</a> (const int &amp;point_idx_arg)</td></tr>
<tr class="memdesc:a03616f25c07af456a3f96e87371f152e inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete leaf node / voxel at given point from input cloud  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a03616f25c07af456a3f96e87371f152e">更多...</a><br /></td></tr>
<tr class="separator:a03616f25c07af456a3f96e87371f152e inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7bc46426ce1b55cfd0a32063ada08613 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="a7bc46426ce1b55cfd0a32063ada08613"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> ()</td></tr>
<tr class="memdesc:a7bc46426ce1b55cfd0a32063ada08613 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. <br /></td></tr>
<tr class="separator:a7bc46426ce1b55cfd0a32063ada08613 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17efabbe9a60f396212030999b9019b4 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">defineBoundingBox</a> (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)</td></tr>
<tr class="memdesc:a17efabbe9a60f396212030999b9019b4 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a17efabbe9a60f396212030999b9019b4">更多...</a><br /></td></tr>
<tr class="separator:a17efabbe9a60f396212030999b9019b4 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4b5da82dcdb17bfc47a7e727002a35d inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">defineBoundingBox</a> (const double max_x_arg, const double max_y_arg, const double max_z_arg)</td></tr>
<tr class="memdesc:ad4b5da82dcdb17bfc47a7e727002a35d inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad4b5da82dcdb17bfc47a7e727002a35d">更多...</a><br /></td></tr>
<tr class="separator:ad4b5da82dcdb17bfc47a7e727002a35d inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab45d8debd181db309b2283ae22a27c58 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab45d8debd181db309b2283ae22a27c58">defineBoundingBox</a> (const double cubeLen_arg)</td></tr>
<tr class="memdesc:ab45d8debd181db309b2283ae22a27c58 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define bounding box cube for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab45d8debd181db309b2283ae22a27c58">更多...</a><br /></td></tr>
<tr class="separator:ab45d8debd181db309b2283ae22a27c58 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc10f5df5244d371c4136f09b37cd685 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">getBoundingBox</a> (double &amp;min_x_arg, double &amp;min_y_arg, double &amp;min_z_arg, double &amp;max_x_arg, double &amp;max_y_arg, double &amp;max_z_arg) const</td></tr>
<tr class="memdesc:adc10f5df5244d371c4136f09b37cd685 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get bounding box for octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#adc10f5df5244d371c4136f09b37cd685">更多...</a><br /></td></tr>
<tr class="separator:adc10f5df5244d371c4136f09b37cd685 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2c5e918883e8a4a4d4c9d017bff900c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">getVoxelSquaredDiameter</a> (unsigned int tree_depth_arg) const</td></tr>
<tr class="memdesc:ab2c5e918883e8a4a4d4c9d017bff900c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared diameter of a voxel at given tree depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab2c5e918883e8a4a4d4c9d017bff900c">更多...</a><br /></td></tr>
<tr class="separator:ab2c5e918883e8a4a4d4c9d017bff900c inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a040db2cc8b3dcf73cdb4bea4fd37d53a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">getVoxelSquaredDiameter</a> () const</td></tr>
<tr class="memdesc:a040db2cc8b3dcf73cdb4bea4fd37d53a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared diameter of a voxel at leaf depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a040db2cc8b3dcf73cdb4bea4fd37d53a">更多...</a><br /></td></tr>
<tr class="separator:a040db2cc8b3dcf73cdb4bea4fd37d53a inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab16d0a5d8b0a383619e1d50d748b5e0f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">getVoxelSquaredSideLen</a> (unsigned int tree_depth_arg) const</td></tr>
<tr class="memdesc:ab16d0a5d8b0a383619e1d50d748b5e0f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared voxel cube side length at given tree depth  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab16d0a5d8b0a383619e1d50d748b5e0f">更多...</a><br /></td></tr>
<tr class="separator:ab16d0a5d8b0a383619e1d50d748b5e0f inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e56f5f63f8e230d71a4716f8c420ebf inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">getVoxelSquaredSideLen</a> () const</td></tr>
<tr class="memdesc:a8e56f5f63f8e230d71a4716f8c420ebf inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the squared voxel cube side length at leaf level  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8e56f5f63f8e230d71a4716f8c420ebf">更多...</a><br /></td></tr>
<tr class="separator:a8e56f5f63f8e230d71a4716f8c420ebf inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad15791e2de5823745260f812b4c65e06 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">getVoxelBounds</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, <a class="el" href="classpcl_1_1octree_1_1_octree_container_empty.html">OctreeContainerEmpty</a> &gt; &gt; &amp;iterator, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</td></tr>
<tr class="memdesc:ad15791e2de5823745260f812b4c65e06 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bounds of the current voxel of an octree iterator  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad15791e2de5823745260f812b4c65e06">更多...</a><br /></td></tr>
<tr class="separator:ad15791e2de5823745260f812b4c65e06 inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a094e94679a5251f9da9b58169e51958e inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">enableDynamicDepth</a> (size_t maxObjsPerLeaf)</td></tr>
<tr class="memdesc:a094e94679a5251f9da9b58169e51958e inherit pub_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable dynamic octree structure  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a094e94679a5251f9da9b58169e51958e">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt;</a></td></tr>
<tr class="memitem:af5b723353ed5e70c780ab51483e21fa3 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="af5b723353ed5e70c780ab51483e21fa3"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:aa3dd39dddf230b39a2fc045ec103abb7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aa3dd39dddf230b39a2fc045ec103abb7"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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<tr class="memitem:a8541db526ddf5f898790bf6ef1223a3a inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a8541db526ddf5f898790bf6ef1223a3a"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:a1e14d8fab1cfd74381c27aadf6d8b093 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a1e14d8fab1cfd74381c27aadf6d8b093"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_end</b> ()</td></tr>
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<tr class="memitem:a760e175fb8bb86d79c56e93e8b595e8e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a760e175fb8bb86d79c56e93e8b595e8e"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:aeb2f5f162fc65bea502e16a4d440e3c3 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aeb2f5f162fc65bea502e16a4d440e3c3"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_end</b> ()</td></tr>
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<tr class="memitem:a0c3b436b7b30f428312dcdcf37f54f9d inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a0c3b436b7b30f428312dcdcf37f54f9d"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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<tr class="memitem:a3c6d18a296ed5f2667a4b6a511d46575 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a3c6d18a296ed5f2667a4b6a511d46575"></a>
const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_end</b> ()</td></tr>
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<tr class="memitem:ae7fe4a307dc3c87adefb3bac2758a862 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="ae7fe4a307dc3c87adefb3bac2758a862"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae7fe4a307dc3c87adefb3bac2758a862">OctreeBase</a> ()</td></tr>
<tr class="memdesc:ae7fe4a307dc3c87adefb3bac2758a862 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a3576546beaf804d801ca93c541d76697 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a3576546beaf804d801ca93c541d76697"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a3576546beaf804d801ca93c541d76697">~OctreeBase</a> ()</td></tr>
<tr class="memdesc:a3576546beaf804d801ca93c541d76697 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
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<tr class="memitem:ad76bd21badf86e9b47d0c8689f6a860b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="ad76bd21badf86e9b47d0c8689f6a860b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">OctreeBase</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:ad76bd21badf86e9b47d0c8689f6a860b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:ad76bd21badf86e9b47d0c8689f6a860b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="aae40b7560b7aaa1f70d95bc95e093601"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">operator=</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator. <br /></td></tr>
<tr class="separator:aae40b7560b7aaa1f70d95bc95e093601 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">setMaxVoxelIndex</a> (unsigned int max_voxel_index_arg)</td></tr>
<tr class="memdesc:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum amount of voxels per dimension.  <a href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">更多...</a><br /></td></tr>
<tr class="separator:a2b65a6dadccce46ef7c2434f80d907d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7de0fe2ec6f460d6e448b846318526b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">setTreeDepth</a> (unsigned int max_depth_arg)</td></tr>
<tr class="memdesc:af7de0fe2ec6f460d6e448b846318526b inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">更多...</a><br /></td></tr>
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<tr class="memitem:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">更多...</a><br /></td></tr>
<tr class="separator:aaedf340984f00bf088c8fac94fb176d7 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62ea5ae9440654d09b0db929675ed5da inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a62ea5ae9440654d09b0db929675ed5da inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">更多...</a><br /></td></tr>
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<tr class="memitem:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">更多...</a><br /></td></tr>
<tr class="separator:a8cb31ab9a56944b96eef0ace8dedacbe inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</td></tr>
<tr class="memdesc:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">更多...</a><br /></td></tr>
<tr class="separator:adde845dfa80aec70762f8297e2b2e97c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">removeLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">更多...</a><br /></td></tr>
<tr class="separator:af316c0dedeb707141de115778016c969 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">getLeafCount</a> () const</td></tr>
<tr class="memdesc:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing leafs in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">更多...</a><br /></td></tr>
<tr class="separator:ac2bed940d92096c56cb9efc08aee0af9 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">getBranchCount</a> () const</td></tr>
<tr class="memdesc:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing branch nodes in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">更多...</a><br /></td></tr>
<tr class="separator:a6969af4d54d7c8d41b16cc00579744d0 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a9abc561a4c6672aba260f688c8250682"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ()</td></tr>
<tr class="memdesc:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
<tr class="separator:a9abc561a4c6672aba260f688c8250682 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg)</td></tr>
<tr class="memdesc:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure.  <a href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">更多...</a><br /></td></tr>
<tr class="separator:aa0be9db52726ff7e1e58fd384e0f5e54 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">更多...</a><br /></td></tr>
<tr class="separator:a4e6c5b482d5280d7809b4a8484b77a5e inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">serializeLeafs</a> (std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.  <a href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">更多...</a><br /></td></tr>
<tr class="separator:a29a4753c659cdd7b27e7e83ad705c89c inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg)</td></tr>
<tr class="memdesc:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).  <a href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">更多...</a><br /></td></tr>
<tr class="separator:a7fcd3895195eb4102f46d4d54826f554 inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with LeafContainerT elements from the dataVector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">更多...</a><br /></td></tr>
<tr class="separator:a38698f38bee2f8748d20713b61f827db inherit pub_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ae4f971ffae17d6d23dc3d6fb46caedb4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">addPointIdx</a> (const int point_idx_arg)</td></tr>
<tr class="memdesc:ae4f971ffae17d6d23dc3d6fb46caedb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at index from input pointcloud dataset to octree.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">更多...</a><br /></td></tr>
<tr class="separator:ae4f971ffae17d6d23dc3d6fb46caedb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadcdf4aeeefe6f98055f4e59e238513c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">computeNeighbors</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, LeafContainerT *leaf_container)</td></tr>
<tr class="memdesc:aadcdf4aeeefe6f98055f4e59e238513c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fills in the neighbors fields for new voxels.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">更多...</a><br /></td></tr>
<tr class="separator:aadcdf4aeeefe6f98055f4e59e238513c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17113d2d4238be2627c6082351ab859a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">genOctreeKeyforPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:a17113d2d4238be2627c6082351ab859a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates octree key for specified point (uses transform if provided).  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">更多...</a><br /></td></tr>
<tr class="separator:a17113d2d4238be2627c6082351ab859a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1octree_1_1_octree_point_cloud')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;</a></td></tr>
<tr class="memitem:a0504486d59659d8fe44257c2e46e159c inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">expandLeafNode</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *leaf_node, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *parent_branch, unsigned char child_idx, unsigned int depth_mask)</td></tr>
<tr class="memdesc:a0504486d59659d8fe44257c2e46e159c inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at index from input pointcloud dataset to octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0504486d59659d8fe44257c2e46e159c">更多...</a><br /></td></tr>
<tr class="separator:a0504486d59659d8fe44257c2e46e159c inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa78eb05816a966b24bc939a6cfc625d3 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">getPointByIndex</a> (const unsigned int index_arg) const</td></tr>
<tr class="memdesc:aa78eb05816a966b24bc939a6cfc625d3 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get point at index from input pointcloud dataset  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#aa78eb05816a966b24bc939a6cfc625d3">更多...</a><br /></td></tr>
<tr class="separator:aa78eb05816a966b24bc939a6cfc625d3 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a239ceacc6b608865fe053f26a1d5d6b6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html">OctreePointCloudAdjacencyContainer</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">findLeafAtPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a239ceacc6b608865fe053f26a1d5d6b6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find octree leaf node at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a239ceacc6b608865fe053f26a1d5d6b6">更多...</a><br /></td></tr>
<tr class="separator:a239ceacc6b608865fe053f26a1d5d6b6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0cbfcff86b8b2d544d98ffa4648d790 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top"><a id="af0cbfcff86b8b2d544d98ffa4648d790"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#af0cbfcff86b8b2d544d98ffa4648d790">getKeyBitSize</a> ()</td></tr>
<tr class="memdesc:af0cbfcff86b8b2d544d98ffa4648d790 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define octree key setting and octree depth based on defined bounding box. <br /></td></tr>
<tr class="separator:af0cbfcff86b8b2d544d98ffa4648d790 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0fd10260bace75f9c753ef42f74f9027 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">adoptBoundingBoxToPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_idx_arg)</td></tr>
<tr class="memdesc:a0fd10260bace75f9c753ef42f74f9027 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Grow the bounding box/octree until point fits  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0fd10260bace75f9c753ef42f74f9027">更多...</a><br /></td></tr>
<tr class="separator:a0fd10260bace75f9c753ef42f74f9027 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f377d439e78370a536d0fffd7c6a2a2 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">isPointWithinBoundingBox</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_idx_arg) const</td></tr>
<tr class="memdesc:a0f377d439e78370a536d0fffd7c6a2a2 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if given point is within the bounding box of the octree  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a0f377d439e78370a536d0fffd7c6a2a2">更多...</a><br /></td></tr>
<tr class="separator:a0f377d439e78370a536d0fffd7c6a2a2 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad34b5c6655fdcf9ed4da21ac8a973e5f inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">genOctreeKeyforPoint</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ad34b5c6655fdcf9ed4da21ac8a973e5f inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate octree key for voxel at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ad34b5c6655fdcf9ed4da21ac8a973e5f">更多...</a><br /></td></tr>
<tr class="separator:ad34b5c6655fdcf9ed4da21ac8a973e5f inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0b9d5d8a304091f8b0e80f8bd76272e inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">genOctreeKeyforPoint</a> (const double point_x_arg, const double point_y_arg, const double point_z_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ab0b9d5d8a304091f8b0e80f8bd76272e inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate octree key for voxel at a given point  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ab0b9d5d8a304091f8b0e80f8bd76272e">更多...</a><br /></td></tr>
<tr class="separator:ab0b9d5d8a304091f8b0e80f8bd76272e inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdabd2a68b1a3b73580e84269f155fad inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">genOctreeKeyForDataT</a> (const int &amp;data_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:afdabd2a68b1a3b73580e84269f155fad inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual method for generating octree key for a given point index.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#afdabd2a68b1a3b73580e84269f155fad">更多...</a><br /></td></tr>
<tr class="separator:afdabd2a68b1a3b73580e84269f155fad inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a342788d493c7a2520009179a0e321d7b inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a342788d493c7a2520009179a0e321d7b inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a point at center of leaf node voxel  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">更多...</a><br /></td></tr>
<tr class="separator:a342788d493c7a2520009179a0e321d7b inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6bea8ca3b8fe7b5c28bce6ca0d636789 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">genVoxelCenterFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int tree_depth_arg, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg) const</td></tr>
<tr class="memdesc:a6bea8ca3b8fe7b5c28bce6ca0d636789 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a point at center of octree voxel at given tree level  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a6bea8ca3b8fe7b5c28bce6ca0d636789">更多...</a><br /></td></tr>
<tr class="separator:a6bea8ca3b8fe7b5c28bce6ca0d636789 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac63353c886559f6f801acb39147978a6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">genVoxelBoundsFromOctreeKey</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &amp;min_pt, Eigen::Vector3f &amp;max_pt) const</td></tr>
<tr class="memdesc:ac63353c886559f6f801acb39147978a6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bounds of an octree voxel using octree key and tree depth arguments  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac63353c886559f6f801acb39147978a6">更多...</a><br /></td></tr>
<tr class="separator:ac63353c886559f6f801acb39147978a6 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31091b92e65251fcb6c19b5f99215151 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">getOccupiedVoxelCentersRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *node_arg, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, AlignedPointTVector &amp;voxel_center_list_arg) const</td></tr>
<tr class="memdesc:a31091b92e65251fcb6c19b5f99215151 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search the tree for all leaf nodes and return a vector of voxel centers.  <a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a31091b92e65251fcb6c19b5f99215151">更多...</a><br /></td></tr>
<tr class="separator:a31091b92e65251fcb6c19b5f99215151 inherit pro_methods_classpcl_1_1octree_1_1_octree_point_cloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt;</a></td></tr>
<tr class="memitem:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">createLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">更多...</a><br /></td></tr>
<tr class="separator:a9bb6a5ef1f56528bf949e4c3e9b3dcdc inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">findLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">更多...</a><br /></td></tr>
<tr class="separator:a08e5792b29cd493d54ba400a23505b40 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">existLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for existance of a leaf node in the octree  <a href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">更多...</a><br /></td></tr>
<tr class="separator:ae54aebbcf08f825f5426fc1f6f66e0b2 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">removeLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">更多...</a><br /></td></tr>
<tr class="separator:a4fc084486bee5e49223e52b5ea1a40c8 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="acd59f91dbfa1671c2d1e37e04712b286"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">getRootNode</a> () const</td></tr>
<tr class="memdesc:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve root node <br /></td></tr>
<tr class="separator:acd59f91dbfa1671c2d1e37e04712b286 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">branchHasChild</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if branch is pointing to a particular child node  <a href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">更多...</a><br /></td></tr>
<tr class="separator:a39c116718d47fb0086ff94117551fc1d inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">getBranchChildPtr</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve a child node pointer for child node at child_idx.  <a href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">更多...</a><br /></td></tr>
<tr class="separator:a9a4721b246ca10cb45f130835e6e5f5b inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">setBranchChildPtr</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *new_child_arg)</td></tr>
<tr class="memdesc:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign new child node to branch  <a href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">更多...</a><br /></td></tr>
<tr class="separator:a61d7ddd454369c5e23054bb1cdadc540 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">getBranchBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bit pattern reflecting the existence of child node pointers  <a href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">更多...</a><br /></td></tr>
<tr class="separator:abe9d23b2322f32b2ee26c1d9c02dcea3 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete child node and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">更多...</a><br /></td></tr>
<tr class="separator:aeb95bc5e61e5c7c5e80030be0fda5997 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg)</td></tr>
<tr class="memdesc:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete branch and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">更多...</a><br /></td></tr>
<tr class="separator:a4766cdedf01eac19a565648b372dac93 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new branch child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">更多...</a><br /></td></tr>
<tr class="separator:a2cec91269a5138bf75973e866015c660 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new leaf child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">更多...</a><br /></td></tr>
<tr class="separator:afca846cfd2002a905d1304bf663394f0 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;return_leaf_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&amp;parent_of_leaf_arg)</td></tr>
<tr class="memdesc:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node at octree key. If leaf node does already exist, it is returned.  <a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">更多...</a><br /></td></tr>
<tr class="separator:a441fbe7d3df743a9e13be569c9620c55 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, LeafContainerT *&amp;result_arg) const</td></tr>
<tr class="memdesc:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search for a given leaf node and return a pointer.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">更多...</a><br /></td></tr>
<tr class="separator:ab3f8693893b6ee4925cf082716a607ed inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg)</td></tr>
<tr class="memdesc:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search and delete leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">更多...</a><br /></td></tr>
<tr class="separator:a6304cd86b4c714e949c68c328f10e8c6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg) const</td></tr>
<tr class="memdesc:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">更多...</a><br /></td></tr>
<tr class="separator:ab9fdbf009e279243a3a1cd99caec05db inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg)</td></tr>
<tr class="memdesc:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursive method for deserializing octree structure  <a href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">更多...</a><br /></td></tr>
<tr class="separator:a1530f19c68fa7fed82198f1444b7b114 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="a0822f6b8272dfe619009873bba7a1211"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">serializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;) const</td></tr>
<tr class="memdesc:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during serialization <br /></td></tr>
<tr class="separator:a0822f6b8272dfe619009873bba7a1211 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top"><a id="afac6e5f2cf2e95a27b4a529275e7ba7e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">deserializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)</td></tr>
<tr class="memdesc:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during deserialization <br /></td></tr>
<tr class="separator:afac6e5f2cf2e95a27b4a529275e7ba7e inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">Log2</a> (double n_arg)</td></tr>
<tr class="memdesc:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function to calculate the binary logarithm  <a href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">更多...</a><br /></td></tr>
<tr class="separator:a84f6098ca21b73b3cf13ca2596238326 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">octreeCanResize</a> ()</td></tr>
<tr class="memdesc:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">更多...</a><br /></td></tr>
<tr class="separator:a4cf92b5f2a5b59e679c12aab3dd276d6 inherit pro_methods_classpcl_1_1octree_1_1_octree_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:ac740d5e678cca7d165771f0c9e480050"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (const int point_idx_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:ac740d5e678cca7d165771f0c9e480050"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point at given index from input point cloud to octree.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ac740d5e678cca7d165771f0c9e480050">更多...</a><br /></td></tr>
<tr class="separator:ac740d5e678cca7d165771f0c9e480050"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a53d42efe80b3083dc5b703ea9dd7c9af">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg)</td></tr>
<tr class="memdesc:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a53d42efe80b3083dc5b703ea9dd7c9af">更多...</a><br /></td></tr>
<tr class="separator:a53d42efe80b3083dc5b703ea9dd7c9af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa204be6055c6e686bbe2bb11ece439db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aa204be6055c6e686bbe2bb11ece439db">addPointToCloud</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)</td></tr>
<tr class="memdesc:aa204be6055c6e686bbe2bb11ece439db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add point simultaneously to octree and input point cloud.  <a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aa204be6055c6e686bbe2bb11ece439db">更多...</a><br /></td></tr>
<tr class="separator:aa204be6055c6e686bbe2bb11ece439db"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a2a3deb7a0b5cbe60995f7f49233c02bc"><td class="memItemLeft" align="right" valign="top"><a id="a2a3deb7a0b5cbe60995f7f49233c02bc"></a>
LeafVectorT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a></td></tr>
<tr class="memdesc:a2a3deb7a0b5cbe60995f7f49233c02bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local leaf pointer vector used to make iterating through leaves fast. <br /></td></tr>
<tr class="separator:a2a3deb7a0b5cbe60995f7f49233c02bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b67e5bf2fcbd0b3d062ef306903ddef"><td class="memItemLeft" align="right" valign="top"><a id="a3b67e5bf2fcbd0b3d062ef306903ddef"></a>
boost::function&lt; void(<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>transform_func_</b></td></tr>
<tr class="separator:a3b67e5bf2fcbd0b3d062ef306903ddef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30c6002f19ebee3e5af733499254e2e3"><td class="memItemLeft" align="right" valign="top"><a id="a30c6002f19ebee3e5af733499254e2e3"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a></td></tr>
<tr class="memdesc:a30c6002f19ebee3e5af733499254e2e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to input point cloud dataset. <br /></td></tr>
<tr class="separator:a30c6002f19ebee3e5af733499254e2e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada3e26017a2b5298846bcdd989feea98"><td class="memItemLeft" align="right" valign="top"><a id="ada3e26017a2b5298846bcdd989feea98"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a></td></tr>
<tr class="memdesc:ada3e26017a2b5298846bcdd989feea98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree resolution. <br /></td></tr>
<tr class="separator:ada3e26017a2b5298846bcdd989feea98"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dc33f2b512bad01de17e599f8279877"><td class="memItemLeft" align="right" valign="top"><a id="a8dc33f2b512bad01de17e599f8279877"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_x_</b></td></tr>
<tr class="separator:a8dc33f2b512bad01de17e599f8279877"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01c861f8af5a5a447af53be9763784c1"><td class="memItemLeft" align="right" valign="top"><a id="a01c861f8af5a5a447af53be9763784c1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_y_</b></td></tr>
<tr class="separator:a01c861f8af5a5a447af53be9763784c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4968dfe99e33fd95718a92626a7ec89"><td class="memItemLeft" align="right" valign="top"><a id="ad4968dfe99e33fd95718a92626a7ec89"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>min_z_</b></td></tr>
<tr class="separator:ad4968dfe99e33fd95718a92626a7ec89"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae15a12d2a28bb61dfee5b336ccc636f0"><td class="memItemLeft" align="right" valign="top"><a id="ae15a12d2a28bb61dfee5b336ccc636f0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_x_</b></td></tr>
<tr class="separator:ae15a12d2a28bb61dfee5b336ccc636f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a464b7adba4e590273e14858b44156000"><td class="memItemLeft" align="right" valign="top"><a id="a464b7adba4e590273e14858b44156000"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_y_</b></td></tr>
<tr class="separator:a464b7adba4e590273e14858b44156000"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08b309d509bac1ec31f0e0688877cee1"><td class="memItemLeft" align="right" valign="top"><a id="a08b309d509bac1ec31f0e0688877cee1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>max_z_</b></td></tr>
<tr class="separator:a08b309d509bac1ec31f0e0688877cee1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
友元</h2></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeIteratorBase&lt; OctreeAdjacencyT &gt;</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeDepthFirstIterator&lt; OctreeAdjacencyT &gt;</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeBreadthFirstIterator&lt; OctreeAdjacencyT &gt;</b></td></tr>
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class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeLeafNodeIterator&lt; OctreeAdjacencyT &gt;</b></td></tr>
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额外继承的成员函数</h2></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1octree_1_1_octree_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1octree_1_1_octree_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt;</a></td></tr>
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std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a></td></tr>
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std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a></td></tr>
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 <br /></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer&lt;PointT&gt;, typename BranchContainerT = OctreeContainerEmpty&gt;<br />
class pcl::octree::OctreePointCloudAdjacency&lt; PointT, LeafContainerT, BranchContainerT &gt;</h3>

<p><b>Octree</b> pointcloud voxel class which maintains adjacency information for its voxels. </p>
<p>This pointcloud octree class generates an octree from a point cloud (zero-copy). The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.</p>
<p>The <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency_container.html" title="Octree adjacency leaf container class- stores a list of pointers to neighbors, number of points added...">OctreePointCloudAdjacencyContainer</a> class can be used to store data in leaf nodes.</p>
<p>An optional transform function can be provided which changes how the voxel grid is computed - this can be used to, for example, make voxel bins larger as they increase in distance from the origin (camera). </p><dl class="section note"><dt>注解</dt><dd>See <a class="el" href="classpcl_1_1_supervoxel_clustering.html" title="Implements a supervoxel algorithm based on voxel structure, normals, and rgb values">SupervoxelClustering</a> for an example of how to provide a transform function.</dd></dl>
<p>If used in academic work, please cite:</p>
<ul>
<li>J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Jeremie Papon (<a href="#" onclick="location.href='mai'+'lto:'+'jpa'+'po'+'n@g'+'ma'+'il.'+'co'+'m'; return false;">jpapo<span style="display: none;">.nosp@m.</span>n@gm<span style="display: none;">.nosp@m.</span>ail.c<span style="display: none;">.nosp@m.</span>om</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ab60753b34c6a12760da82cf9ea74cb75"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab60753b34c6a12760da82cf9ea74cb75">&#9670;&nbsp;</a></span>OctreePointCloudAdjacency()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::<a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">OctreePointCloudAdjacency</a> </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
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          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
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  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;: <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;, OctreeBase&lt;LeafContainerT, BranchContainerT&gt; &gt; (resolution_arg)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4ebc0e3994827277f01fe12cb4fe8c2a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4ebc0e3994827277f01fe12cb4fe8c2a">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;::OctreePointCloud</a></div><div class="ttdeci">OctreePointCloud(const double resolution_arg)</div><div class="ttdoc">Octree pointcloud constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:49</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="ac740d5e678cca7d165771f0c9e480050"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac740d5e678cca7d165771f0c9e480050">&#9670;&nbsp;</a></span>addPointFromCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreePointCloudAdjacencyContainer&lt;PointT&gt;, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointFromCloud</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Add point at given index from input point cloud to octree. </p>
<p>Index will be also added to indices vector. This functionality is not enabled for adjacency octree. </p>
<div class="fragment"><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">addPointIdx</a> (point_idx_arg);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">if</span> (indices_arg)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    indices_arg-&gt;push_back (point_idx_arg);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_ae4f971ffae17d6d23dc3d6fb46caedb4"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">pcl::octree::OctreePointCloudAdjacency::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:143</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae4f971ffae17d6d23dc3d6fb46caedb4">&#9670;&nbsp;</a></span>addPointIdx()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::addPointIdx </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>point_idx_arg</em></td><td>)</td>
          <td></td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Add point at index from input pointcloud dataset to octree. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_idx_arg</td><td>The index representing the point in the dataset given by <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a87cad20428de876fcf789e674a39f503" title="Provide a pointer to the input data set.">setInputCloud()</a> to be added</td></tr>
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<dl class="section note"><dt>注解</dt><dd>This virtual implementation allows the use of a transform function to compute keys. </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a8a1dcd695db20c10dd2ca049b3e6851e">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  assert (pointIdx_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points.size ()));</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[pointIdx_arg];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (!pcl::isFinite (point))</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;   </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">genOctreeKeyforPoint</a> (point, key);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// add point to octree at key</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  LeafContainerT* container = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a>(key);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  container-&gt;addPoint (point);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a62ea5ae9440654d09b0db929675ed5da"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">pcl::octree::OctreeBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a17113d2d4238be2627c6082351ab859a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">pcl::octree::OctreePointCloudAdjacency::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generates octree key for specified point (uses transform if provided).</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:114</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a30c6002f19ebee3e5af733499254e2e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">pcl::octree::OctreePointCloudAdjacency::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">Pointer to input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:539</div></div>
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<a id="a60fb93a56effff0f432477496ec53b7d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a60fb93a56effff0f432477496ec53b7d">&#9670;&nbsp;</a></span>addPointsFromInputCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::addPointsFromInputCloud</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Adds points from cloud to the octree. </p>
<dl class="section note"><dt>注解</dt><dd>This overrides <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d" title="Adds points from cloud to the octree.">addPointsFromInputCloud()</a> from the <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html" title="Octree pointcloud class">OctreePointCloud</a> class. </dd></dl>
<div class="fragment"><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">//double t1,t2;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">float</span> minX = std::numeric_limits&lt;float&gt;::max (), minY = std::numeric_limits&lt;float&gt;::max (), minZ = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">float</span> maxX = -std::numeric_limits&lt;float&gt;::max(), maxY = -std::numeric_limits&lt;float&gt;::max(), maxZ = -std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>-&gt;points[i]);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">if</span> (transform_func_) <span class="comment">//Search for point with </span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      transform_func_ (temp);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (!pcl::isFinite (temp)) <span class="comment">//Check to make sure transform didn&#39;t make point not finite</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span> (temp.x &lt; minX)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      minX = temp.x;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (temp.y &lt; minY)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      minY = temp.y;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (temp.z &lt; minZ)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      minZ = temp.z;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">if</span> (temp.x &gt; maxX)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      maxX = temp.x;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">if</span> (temp.y &gt; maxY)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      maxY = temp.y;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (temp.z &gt; maxZ)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      maxZ = temp.z;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">defineBoundingBox</a> (minX, minY, minZ, maxX, maxY, maxZ);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::addPointsFromInputCloud</a> ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  LeafContainerT *leaf_container;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">typename</span> OctreeAdjacencyT::LeafNodeIterator leaf_itr;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a>.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">getLeafCount</a> ());</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">for</span> ( leaf_itr = this-&gt;leaf_begin () ; leaf_itr != this-&gt;leaf_end (); ++leaf_itr)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    OctreeKey leaf_key = leaf_itr.getCurrentOctreeKey ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    leaf_container = &amp;(leaf_itr.getLeafContainer ());</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">//Run the leaf&#39;s compute function</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    leaf_container-&gt;computeData ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">computeNeighbors</a> (leaf_key, leaf_container);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a>.push_back (leaf_container);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//Make sure our leaf vector is correctly sized</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  assert (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a>.size () == this-&gt;getLeafCount ());</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ac2bed940d92096c56cb9efc08aee0af9"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">pcl::octree::OctreeBase::getLeafCount</a></div><div class="ttdeci">std::size_t getLeafCount() const</div><div class="ttdoc">Return the amount of existing leafs in the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a2a3deb7a0b5cbe60995f7f49233c02bc"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">pcl::octree::OctreePointCloudAdjacency::leaf_vector_</a></div><div class="ttdeci">LeafVectorT leaf_vector_</div><div class="ttdoc">Local leaf pointer vector used to make iterating through leaves fast.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_aadcdf4aeeefe6f98055f4e59e238513c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">pcl::octree::OctreePointCloudAdjacency::computeNeighbors</a></div><div class="ttdeci">void computeNeighbors(OctreeKey &amp;key_arg, LeafContainerT *leaf_container)</div><div class="ttdoc">Fills in the neighbors fields for new voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:162</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a7bc46426ce1b55cfd0a32063ada08613"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a7bc46426ce1b55cfd0a32063ada08613">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;::defineBoundingBox</a></div><div class="ttdeci">void defineBoundingBox()</div><div class="ttdoc">Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:265</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a53d42efe80b3083dc5b703ea9dd7c9af">&#9670;&nbsp;</a></span>addPointToCloud() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreePointCloudAdjacencyContainer&lt;PointT&gt;, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointToCloud</td>
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<p>Add point simultaneously to octree and input point cloud. </p>
<p>This functionality is not enabled for adjacency octree. </p>
<div class="fragment"><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;{</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  assert (cloud_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">addPointIdx</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa204be6055c6e686bbe2bb11ece439db">&#9670;&nbsp;</a></span>addPointToCloud() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreePointCloudAdjacencyContainer&lt;PointT&gt;, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT, <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;::addPointToCloud</td>
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<p>Add point simultaneously to octree and input point cloud. </p>
<p>This functionality is not enabled for adjacency octree. </p>
<div class="fragment"><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  assert (cloud_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a30c6002f19ebee3e5af733499254e2e3">input_</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  assert (indices_arg==<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">indices_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  cloud_arg-&gt;push_back (point_arg);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ac740d5e678cca7d165771f0c9e480050">addPointFromCloud</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_arg-&gt;points.size ()) - 1, indices_arg);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_ac740d5e678cca7d165771f0c9e480050"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ac740d5e678cca7d165771f0c9e480050">pcl::octree::OctreePointCloudAdjacency::addPointFromCloud</a></div><div class="ttdeci">void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)</div><div class="ttdoc">Add point at given index from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a4fe0eb5fad27c0b3a615f9f6d372a82b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a4fe0eb5fad27c0b3a615f9f6d372a82b">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;::indices_</a></div><div class="ttdeci">IndicesConstPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:542</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aadcdf4aeeefe6f98055f4e59e238513c">&#9670;&nbsp;</a></span>computeNeighbors()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::computeNeighbors </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">LeafContainerT *&#160;</td>
          <td class="paramname"><em>leaf_container</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Fills in the neighbors fields for new voxels. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">key_arg</td><td>Key of the voxel to check neighbors for </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">leaf_container</td><td>Pointer to container of the leaf to check neighbors for </td></tr>
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<div class="fragment"><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;{ </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">//Make sure requested key is valid</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">if</span> (key_arg.x &gt; this-&gt;max_key_.x || key_arg.y &gt; this-&gt;max_key_.y || key_arg.z &gt; this-&gt;max_key_.z)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;OctreePointCloudAdjacency::computeNeighbors Requested neighbors for invalid octree key\n&quot;</span>);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  OctreeKey neighbor_key;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordtype">int</span> dx_min = (key_arg.x &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordtype">int</span> dy_min = (key_arg.y &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordtype">int</span> dz_min = (key_arg.z &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordtype">int</span> dx_max = (key_arg.x == this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.x) ? 0 : 1;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordtype">int</span> dy_max = (key_arg.y == this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.y) ? 0 : 1;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordtype">int</span> dz_max = (key_arg.z == this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.z) ? 0 : 1;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dx = dx_min; dx &lt;= dx_max; ++dx)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dy = dy_min; dy &lt;= dy_max; ++dy)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dz = dz_min; dz &lt;= dz_max; ++dz)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        neighbor_key.x = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.x + dx);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        neighbor_key.y = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.y + dy);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        neighbor_key.z = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.z + dz);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        LeafContainerT *neighbor = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (neighbor_key);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (neighbor)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          leaf_container-&gt;addNeighbor (neighbor);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a8cb31ab9a56944b96eef0ace8dedacbe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">pcl::octree::OctreeBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:108</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ae03f7feba50b4bca74c8a6aeba9aba3c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">pcl::octree::OctreeBase::max_key_</a></div><div class="ttdeci">OctreeKey max_key_</div><div class="ttdoc">key range</div><div class="ttdef"><b>Definition:</b> octree_base.h:591</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4c04692ebdce08de83a2568cac551276">&#9670;&nbsp;</a></span>computeVoxelAdjacencyGraph()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::computeVoxelAdjacencyGraph </td>
          <td>(</td>
          <td class="paramtype">VoxelAdjacencyList &amp;&#160;</td>
          <td class="paramname"><em>voxel_adjacency_graph</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Computes an adjacency graph of voxel relations. </p>
<dl class="section warning"><dt>警告</dt><dd>This slows down rapidly as cloud size increases due to the number of edges.</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">voxel_adjacency_graph</td><td>Boost Graph Library Adjacency graph of the voxel touching relationships. <a class="el" href="structpcl_1_1_vertices.html" title="Describes a set of vertices in a polygon mesh, by basically storing an array of indices.">Vertices</a> are PointT, edges represent touching, and edge lengths are the distance between the points. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">//TODO Change this to use leaf centers, not centroids!</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  voxel_adjacency_graph.clear ();</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">//Add a vertex for each voxel, store ids in map</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  std::map &lt;LeafContainerT*, VoxelID&gt; leaf_vertex_id_map;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> OctreeAdjacencyT::LeafNodeIterator leaf_itr = this-&gt;leaf_begin () ; leaf_itr != this-&gt;leaf_end (); ++leaf_itr)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    OctreeKey leaf_key = leaf_itr.getCurrentOctreeKey ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> centroid_point;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">genLeafNodeCenterFromOctreeKey</a> (leaf_key, centroid_point);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    VoxelID node_id = add_vertex (voxel_adjacency_graph);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    voxel_adjacency_graph[node_id] = centroid_point;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    LeafContainerT* leaf_container = &amp;(leaf_itr.getLeafContainer ());</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    leaf_vertex_id_map[leaf_container] = node_id;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">//Iterate through and add edges to adjacency graph</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> ( <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::iterator leaf_itr = <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a>.begin (); leaf_itr != <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a2a3deb7a0b5cbe60995f7f49233c02bc">leaf_vector_</a>.end (); ++leaf_itr)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keyword">typename</span> LeafContainerT::iterator neighbor_itr = (*leaf_itr)-&gt;begin ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">typename</span> LeafContainerT::iterator neighbor_end = (*leaf_itr)-&gt;end ();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    LeafContainerT* neighbor_container;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    VoxelID u = (leaf_vertex_id_map.find (*leaf_itr))-&gt;second;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_u = voxel_adjacency_graph[u];</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">for</span> ( ; neighbor_itr != neighbor_end; ++neighbor_itr)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      neighbor_container = *neighbor_itr;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      EdgeID edge;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordtype">bool</span> edge_added;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      VoxelID v = (leaf_vertex_id_map.find (neighbor_container))-&gt;second;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      boost::tie (edge, edge_added) = add_edge (u,v,voxel_adjacency_graph);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_v = voxel_adjacency_graph[v];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">float</span> dist = (p_v.getVector3fMap () - p_u.getVector3fMap ()).norm ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      voxel_adjacency_graph[edge] = dist;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_a342788d493c7a2520009179a0e321d7b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#a342788d493c7a2520009179a0e321d7b">pcl::octree::OctreePointCloud&lt; PointT, OctreePointCloudAdjacencyContainer&lt; PointT &gt;, OctreeContainerEmpty &gt;::genLeafNodeCenterFromOctreeKey</a></div><div class="ttdeci">void genLeafNodeCenterFromOctreeKey(const OctreeKey &amp;key_arg, PointT &amp;point_arg) const</div><div class="ttdoc">Generate a point at center of leaf node voxel</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:723</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a17113d2d4238be2627c6082351ab859a">&#9670;&nbsp;</a></span>genOctreeKeyforPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::genOctreeKeyforPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generates octree key for specified point (uses transform if provided). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>Point to generate key for </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">key_arg</td><td>Resulting octree key </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (transform_func_)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp (point_arg);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    transform_func_ (temp);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;   <span class="comment">// calculate integer key for transformed point coordinates</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite (temp)) <span class="comment">//Make sure transformed point is finite - if it is not, it gets default key</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.x - this-&gt;min_x_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.y - this-&gt;min_y_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.z - this-&gt;min_z_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      key_arg = OctreeKey ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// calculate integer key for point coordinates</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.x - this-&gt;min_x_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.y - this-&gt;min_y_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.z - this-&gt;min_z_) / this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_ada3e26017a2b5298846bcdd989feea98"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">pcl::octree::OctreePointCloudAdjacency::resolution_</a></div><div class="ttdeci">double resolution_</div><div class="ttdoc">Octree resolution.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:548</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f7b7d0c23cb413530b85042d021f9bf">&#9670;&nbsp;</a></span>getLeafContainerAtPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT * <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::getLeafContainerAtPoint </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Gets the leaf container for a given point. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>Point to search for</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>Pointer to the leaf container - null if no leaf container found. </dd></dl>
<div class="fragment"><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;{</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  LeafContainerT* leaf = 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  leaf = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (key);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">return</span> leaf;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0a0ee370d0a5fe320741e4f60a57d17a">&#9670;&nbsp;</a></span>setTransformFunction()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT  = OctreePointCloudAdjacencyContainer&lt;PointT&gt;, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::setTransformFunction </td>
          <td>(</td>
          <td class="paramtype">boost::function&lt; void(<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)&gt;&#160;</td>
          <td class="paramname"><em>transform_func</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Sets a point transform (and inverse) used to transform the space of the input cloud. </p>
<p>This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">transform_func</td><td>A boost:function pointer to the transform to be used. The transform must have one parameter (a point) which it modifies in place. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          transform_func_ = transform_func;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a209f1bdf001dffcec55a09f556cd13a2">&#9670;&nbsp;</a></span>testForOcclusion()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html">pcl::octree::OctreePointCloudAdjacency</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT &gt;::testForOcclusion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>point_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;&#160;</td>
          <td class="paramname"><em>camera_pos</em> = <code><a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&#160;(0,&#160;0,&#160;0)</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Tests whether input point is occluded from specified camera point by other voxels. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">point_arg</td><td>Point to test for </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">camera_pos</td><td>Position of camera, defaults to origin</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>True if path to camera is blocked by a voxel, false otherwise. </dd></dl>
<div class="fragment"><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;{</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  OctreeKey key;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">genOctreeKeyforPoint</a> (point_arg, key);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="comment">// This code follows the method in Octree::PointCloud</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  Eigen::Vector3f sensor(camera_pos.x,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                         camera_pos.y,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                         camera_pos.z);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  Eigen::Vector3f leaf_centroid(<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.x) + 0.5f) * this-&gt;resolution_ + this-&gt;min_x_),</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.y) + 0.5f) * this-&gt;resolution_ + this-&gt;min_y_), </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.z) + 0.5f) * this-&gt;resolution_ + this-&gt;min_z_));</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  Eigen::Vector3f direction = sensor - leaf_centroid;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">float</span> norm = direction.norm ();</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">float</span> precision = 1.0f;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> step_size = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ada3e26017a2b5298846bcdd989feea98">resolution_</a>) * precision;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nsteps = std::max (1, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (norm / step_size));</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  OctreeKey prev_key = key;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="comment">// Walk along the line segment with small steps.</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  Eigen::Vector3f p = leaf_centroid;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> octree_p;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nsteps; ++i)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="comment">//Start at the leaf voxel, and move back towards sensor.</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    p += (direction * step_size);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    octree_p.x = p.x ();</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    octree_p.y = p.y ();</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    octree_p.z = p.z ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="comment">//  std::cout &lt;&lt; octree_p&lt;&lt; &quot;\n&quot;;</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    OctreeKey key;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">genOctreeKeyforPoint</a> (octree_p, key);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="comment">// Not a new key, still the same voxel (starts at self).</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">if</span> ((key == prev_key))</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    prev_key = key;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    LeafContainerT *leaf = this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (key);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="comment">//If the voxel is occupied, there is a possible occlusion</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">if</span> (leaf)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;     <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="comment">//If we didn&#39;t run into a voxel on the way to this camera, it can&#39;t be occluded.</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>octree/include/pcl/octree/<a class="el" href="octree__pointcloud__adjacency_8h_source.html">octree_pointcloud_adjacency.h</a></li>
<li>octree/include/pcl/octree/impl/<a class="el" href="octree__pointcloud__adjacency_8hpp_source.html">octree_pointcloud_adjacency.hpp</a></li>
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